論文 - 丹上　結乃純

Detection of Fallen Persons and Person Shadows from Drone Images 査読有り

Ono T., Egawa H., Ono Y., Ishikawa S., Tan J.K.

Proceedings of International Conference on Artificial Life and Robotics   899 - 903   2023年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In recent years, the development of automatic search methods based on aerial images taken by drones has been attracting attention in order to prevent secondary disasters and to perform rescue operations quickly in the search for victims of natural disasters. Although various methods exist for automatic person detection for search, they are based on the assumption that the background area of a person captured by a drone camera is a uniform ground in which only those persons who require rescue exist without any shadows or trees. In this paper, we propose a method of automatic detection of both fallen persons and person shadows, or trees on the ground. The method is combination of Ri-HOG and Ri-LBP features to search for fallen persons. These features are robust to rotation. We then employ GrabCut and brightness values to detect shadows. The effectiveness of the proposed method was verified by experiment.

Scopus

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3D Point Cloud Registration and Segmentation of Reflective Metal Objects Using Go-ICP and Improved RANSAC 査読有り 国際誌

Morita K., Liu Z., Cao J., Ishikawa S., Nitta M., Tan J.K.

Proceedings of International Conference on Artificial Life and Robotics   888 - 893   2023年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Registration and segmentation of 3D data are necessary in many fields, such as factory automation, automated driving, or even in the medical field. However, the technique is generally applied to non-metal objects. One of the problems of registration of a metal object is that the point clouds representing a metal object contain many outliers and missing points because of its reflective nature. This makes the accuracy of the registration and segmentation degrade. In this paper, we propose registration and segmentation techniques that are robust to outliers. For registration, we use the globally optimal Go-ICP (Global optimal-Iterative Closest Point) algorithm considering the goodness of a combination of point cloud sets to escape from convergence to a local solution. In segmentation, we address the problem of RANSAC generating false segments consisting of nearly identical multiple planar points and introduce an improved RANSAC. We use three kinds of the metal tray to show the effectiveness of the proposed technique.

Scopus

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Recognition of Human Walking Motion Using a Wearable Camera 査読有り

Liu Z., Kurosaki T., Tan J.K.

ACM International Conference Proceeding Series   7 - 13   2022年11月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In recent years, the computer vision technology has been attracting more attention than ever and being applied in a wide range of fields. Among them, the technology on automatic recognition of human motion is particularly important, since it leads to automatic detection of suspicious persons and automatic monitoring of elderly people. Therefore, the research on human motion recognition using computer vision techniques has been actively conducted in Japan and overseas. However, most of the conventional researches on human motion recognition employs a video of a human motion taken using an external fixed camera. There is no research on human motion recognition using a video of a surrounding scenery provided from a wearable camera. This paper proposes a method of recognizing a human motion by estimating the posture change of a wearable camera attached to a walking human from the motion of a scenery in the video provided from the wearable camera and by analyzing a human trunk change obtained from the posture change of the camera. In the method, AKAZE is applied to the images to detect feature points and to find their correspondence. The 5-point algorithm is used to estimate the Epipolar geometry constraint and an essential matrix which provides a camera relative motion. The change of the camera relative motion is then used to analyze the shape of a human trunk. The analyzed results, i.e., walking motion features, are finally fed into a SVM to identify the motion. In the experiment, five types of walking motions are captured by a wearable camera from five subjects. The accuracy on human motion recognition was 80%. More precise feature points extraction, more exact estimation of motions, and considering variety of human walking motions are needed to improve the proposed technique.

DOI： 10.1145/3581807.3581809

Scopus

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Fruits and Vegetables Detection using the Improved YOLOv3 査読有り 国際誌

Changhua Xu, Ziyue Liu, Joo Kooi Tan

Proceedings of the 2022 International Conference on Artificial Life and Robotics   1 - 5   2022年01月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan  

As the global aging intensifies, it is more convenient for a robot to go for buying things like fruits and vegetables instead of elderly, and it is more human-like to select items according to a user’s personal preferences such as maturity of fruits, sweetness, etc. However, Fruits and vegetables are generally displayed in a disorderly manner. Therefore, detection and recognition of fruits and vegetables is a difficult task for a robot. This paper proposes an improved YOLOv3 and also pre-training the networks to detect fruits and vegetables, we then using Bilinear-CNN to classify fruit’s maturity. The effectiveness of the proposed method is shown by experiments.

Collision Avoidance in a Human-Robot Coexistent Food Preparation Environment Using Hands Area Extraction 査読有り

Takaaaki Yotsumoto, Yuta Ono, Joo Kooi Tan

Proc. of The 2022 International Conference on Artificial Life and Robotics (ICAROB2022) ( Artificial Life and Robotics (ICAROB) )   1 - 5   2022年01月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Online   2022年01月21日  -  2022年01月23日

In Japan, the population of the working-age between 15 and 64 years old is peaked in 1995 at about 87 million and is expected to continue to decline in the future. Therefore, in order to solve the labor shortage, the introduction of industrial robots that can perform the same level of work as humans is strongly requested.especially in a food preparation industry. In order to prevent danger to workers there, it is necessary for industrial robots to recognize workers and avoid them when there is fear of collision. In this paper, we propose a method of extracting hand regions based on the color distributions of a hand and GrabCut in an experimental environment to recognize human hands and detect their directions of approach. The performance of the proposed method is shown experimentally.

Kyutacar

An Object Acquisition Based on Human-Robot Cooperation 査読有り 国際誌

Kota Ito, Masuhiro Nitta, Seiji Ishikawa, Joo Kooi Tan

Proc. of The 2022 International Conference on Artificial Life and Robotics (ICAROB2022) ( Artificial Life and Robotics (ICAROB) )   432 - 436   2022年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Online   2022年01月21日  -  2022年01月23日

In this paper, we propose a human-robot cooperative system to support shopping refugees. In the system, a robot acquires an object specified by a person in a distant site. The normal vector is calculated from the depth image, and the region is segmented using GBS on an RGB image. The two obtained clues are used to accurately detect the position of the specified object. The effectiveness of the proposed method was verified by experiments.

DOI： 10.5954/ICAROB.2022.OS21-1

Kyutacar

Detecting Approaching Human Hands in a Human-Robot Coexistent Food Preparation Work Area for Preventing Collision 査読有り 国際誌

Tan Joo Kooi, Yotsumoto Takaaki, Ono Yuta

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics )   9 ( 3 )   289 - 294   2022年01月

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

In Japan, the population of working age between 15 and 64 years old peaked in 1995 at about 87 million and is expected to continue to decline in the future. Therefore, to solve the labor shortage, the introduction of industrial robots that can perform the same level of work as humans is strongly requested especially in the food preparation industry. In order to prevent danger to workers there, industrial robots must recognize workers and avoid them when there is fear of collision. In this paper, we propose a method for extracting hand regions based on the color distribution of a hand and GrabCut in an experimental environment to recognize human hands and detect their directions of approach. The proposed method was examined experimentally and gave satisfactory results.

DOI： 10.57417/jrnal.9.3_289

Scopus

CiNii Research

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Supporting Safe Walk of a Visually Impaired Person at a Railway Station PlatformBased on MY VISION 査読有り

Kawaguchi Y., Ishikawa S., Shinomiya T., Tan J.K.

Proceedings of International Conference on Artificial Life and Robotics   447 - 450   2022年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

For a visually impaired person, platforms of railway station are places where there is a risk of falling. This paper proposes a system that prevents fall of a visually impaired person from the platform by use of self-viewpoint images provided from MY VISION, an ego camera system attached to a user. The edges of the platform are detected by region segmentation and line segment detection on the self-viewpoint images. The performance of the proposed system was experimentally examined and satisfactory results were obtained.

Scopus

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Fruits and Vegetables Detection using the Improved YOLOv3 査読有り

Xu C., Liu Z., Tan J.K.

Proceedings of International Conference on Artificial Life and Robotics   456 - 460   2022年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

As the global aging intensifies, it is more convenient for a robot to go for buying things like fruits and vegetables instead of elderly, and it is more human-like to select items according to a user’s personal preferences such as.

DOI： 10.5954/icarob.2022.os21-6

Scopus

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Detecting a Pedestrian’s Walk Direction Using MY VISION for Supporting Safe Walk of a Visually Impaired Person 査読有り

Iizumi S., Tan J.K., Ono Y., Ishikawa S., Nitta M.

Proceedings of International Conference on Artificial Life and Robotics   451 - 455   2022年01月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In this paper, we propose a method of recognizing multiple objects using MSC-HOG (Multiple-Scale-Cell Histograms of Oriented Gradients) features and intensity models of both pedestrians and bicyclists. We also propose a method of detecting approaching passersby using different discriminators without using time-series information such as Optical Flow. The effectiveness of the proposed method is verified by experiments.

Scopus

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Collision Avoidance in a Human-Robot Coexistent Food Preparation Environment Using Hands Area Extraction 査読有り

Yotsumoto T., Ono Y., Tan J.K.

Proceedings of International Conference on Artificial Life and Robotics   442 - 446   2022年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In Japan, the population of the working-age between 15 and 64 years old is peaked in 1995 at about 87 million and is expected to continue to decline in the future. Therefore, in order to solve the labor shortage, the introduction of industrial robots that can perform the same level of work as humans is strongly requested.especially in a food preparation industry. In order to prevent danger to workers there, it is necessary for industrial robots to recognize workers and avoid them when there is fear of collision. In this paper, we propose a method of extracting hand regions based on the color distributions of a hand and GrabCut in an experimental environment to recognize human hands and detect their directions of approach. The performance of the proposed method is shown experimentally.

Scopus

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Detection of a Fallen Person and Estimation of the Head Position from UAV Images 査読有り

Egawa Haruka, Seiji Ishikawa, Joo Kooi Tan

Proc. of The 2021 International Conference on Artificial Life and Robotics (ICAROB2021) ( Artificial Life and Robotics (ICAROB) )   279 - 282   2021年01月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Hiroshima(Online)   2021年01月22日  -  2021年01月23日

Kyutacar

Bus Line Number Detection Employing MY VISION 査読有り

Ye Zhou, Joo Kooi Tan

Proc. of The 2021 International Conference on Artificial Life and Robotics (ICAROB2021) ( Artificial Life and Robotics (ICAROB) )   291 - 294   2021年01月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Hiroshima(Online)   2021年01月22日  -  2021年01月23日

Abnormal Human Action Detection Based on GAN 査読有り

Tomoya Sano, Seiji Ishikawa, Joo Kooi Tan

Proc. of The 2021 International Conference on Artificial Life and Robotics (ICAROB2021) ( Artificial Life and Robotics (ICAROB) )   287 - 290   2021年01月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Hiroshima(Online)   2021年01月22日  -  2021年01月23日

Kyutacar

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Development of a Pedestrian Crossing Navigation System for a Visually Impaired Person Using MY VISION 査読有り

Kouhei Kitagawa, Seiji Ishikawa, Joo Kooi Tan

Proc. of The 2021 International Conference on Artificial Life and Robotics (ICAROB2021) ( Artificial Life and Robotics (ICAROB) )   283 - 286   2021年01月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Hiroshima(Online)   2021年01月22日  -  2021年01月23日

Kyutacar

Development of a Pedestrian Crossing Navigation System for a Visually Impaired Person Using MY VISION 査読有り

Kitagawa Kohei, Ishikawa Seiji, Tan Joo Kooi

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics )   26   283 - 286   2021年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In this paper, we propose a system for a visually impaired person to cross a pedestrian crossing safely by the employment of the state of a traffic light and the remaining distance to the other side obtained from the analysis of MY VISION images. The traffic light at a pedestrian crossing is detected by a discriminator using HOG (Histograms of Oriented Gradients) features and Random Forest. The effectiveness of the proposed method was verified by experiments.

DOI： 10.5954/icarob.2021.os14-2

CiNii Research

Detection of a Fallen Person and Estimation of the Head Position from UAV Images 査読有り

Egawa Haruka, Ishikawa Seiji, Tan Joo Kooi

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics )   26   279 - 282   2021年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In order to search for victims in the event of a disaster, we propose a method of detecting a fallen person from UAV images and estimating its head position. Rotation-invariant HOG and Rotation-invariant LBP are used, so that they may detected a fallen person regardless of its body orientation. In addition, the position of the head of a fallen person is estimated using the peak of the gradient histogram. Experimental results show satisfactory performance of the proposed method.

DOI： 10.5954/icarob.2021.os14-1

CiNii Research

Bus Line Number Detection Employing MY VISION 査読有り 国際誌

Zhou Ye, Hamasaki Yosiki, Tan Joo Kooi

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics )   26   291 - 294   2021年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In response to the requests from visually impaired people that they wish better assistance tools in their daily activities, and to the facts that they find difficulty in using public transportation, we propose a bus boarding support system using MY VISION. For the support, we detect a bus approaching a bus stop from MY VISION images employing Haar-like filters, and acquire the moving object area with the pyramidal Lucas-Kanade method. Then, we extract the frontal upper area displaying bus line number and the destination by random forest. Having obtained the area, a method of connecting area marking is used to obtain the bus line number area. The effectiveness of the proposed method is shown by experiments.

DOI： 10.5954/icarob.2021.os14-5

CiNii Research

Abnormal Human Action Detection Based on GAN 査読有り 国際誌

Sano Tomoya, Ishikawa Seiji, Tan Joo Kooi

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics )   26   287 - 290   2021年01月

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

One of the important roles of a camera surveillance system is to detect abnormal human actions or events. In this study, we propose a method of abnormal human actions/events detection method using Generative Adversarial Nets (GAN). In anomaly action detection, the main problem is that the image data of abnormal human actions is more difficult to obtain than normal human actions. To solve this difficulty, we use only normal human action data in the employed training network and those actions not recognized as normal are judged as abnormal. Experimental results show effectiveness of the proposed method.

DOI： 10.5954/icarob.2021.os14-3

CiNii Research

Abnormal human action detection based on gan 査読有り

Sano T., Ishikawa S., Tan J.K.

Proceedings of International Conference on Artificial Life and Robotics   2021   287 - 290   2021年01月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

One of the important roles of a camera surveillance system is to detect abnormal human actions or events. In this study, we propose a method of abnormal human actions/events detection method using Generative Adversarial Nets (GAN). In anomaly action detection, the main problem is that the image data of abnormal human actions is more difficult to obtain than normal human actions. To solve this difficulty, we use only normal human action data in the employed training network and those actions not recognized as normal are judged as abnormal. Experimental results show effectiveness of the proposed method.

Scopus

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